ATE47685T1 - GEAR HEAD FOR MANIPULATORS. - Google Patents

GEAR HEAD FOR MANIPULATORS.

Info

Publication number
ATE47685T1
ATE47685T1 AT84116215T AT84116215T ATE47685T1 AT E47685 T1 ATE47685 T1 AT E47685T1 AT 84116215 T AT84116215 T AT 84116215T AT 84116215 T AT84116215 T AT 84116215T AT E47685 T1 ATE47685 T1 AT E47685T1
Authority
AT
Austria
Prior art keywords
gear head
gear
head part
drive
longitudinal axis
Prior art date
Application number
AT84116215T
Other languages
German (de)
Inventor
Ernst Zimmer
Original Assignee
Kuka Schweissanlagen & Roboter
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE3428748A external-priority patent/DE3428748C2/en
Application filed by Kuka Schweissanlagen & Roboter filed Critical Kuka Schweissanlagen & Roboter
Application granted granted Critical
Publication of ATE47685T1 publication Critical patent/ATE47685T1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
  • Supporting Of Heads In Record-Carrier Devices (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Vehicle Body Suspensions (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

1. Gear head for manipulators, consisting of three head parts (1, 2, 3) disposed one behind the other and mounted about axes (5, 6) inclined with respect to each other, the inclined axes (5, 6) of which head parts, in the elongated position of the gear head, respectively form an acute angle (alpha), opening in opposite directions, with the longitudinal axis (4) of the gear head and intersect so that the angle legs formed by the inclined axes (5, 6) point towards a common side of the longitudinal axis (4), a surface (12) for the flange-mounting of a tool, extending in the elongated position at right angles to the longitudinal axis (4), being disposed on the front gear head part (3) and three drive shafts (13, 18, 26), extending concentrically to the longitudinal axis (4), being provided for driving the gear head parts (1, 2, 3), of which drive shafts one of the inner drive shafts (18) is connected by way of an angle drive (19, 20) and an intermediate shaft (21) rotating about the inclined axis of rotation (5) to the front head part (3) supporting the tool and the other of the inner drive shafts is connected by an angle drive (14, 15), whereof the output gear (15) surrounds the intermediate shaft (21) concentrically with play, to the central gear head part (2) and that disposed in the central gear head part (2) is at least one reduction gear (25) having a high reduction ratio, for the drive of the front gear head part (3), preferably also a reduction gear (17) of this type for the drive of the central gear head part (2).
AT84116215T 1984-08-03 1984-12-22 GEAR HEAD FOR MANIPULATORS. ATE47685T1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3428748A DE3428748C2 (en) 1983-08-03 1984-08-03 Gear head for manipulators
EP84116215A EP0169942B1 (en) 1984-08-03 1984-12-22 Driven-tool holder head for manipulators

Publications (1)

Publication Number Publication Date
ATE47685T1 true ATE47685T1 (en) 1989-11-15

Family

ID=6242343

Family Applications (1)

Application Number Title Priority Date Filing Date
AT84116215T ATE47685T1 (en) 1984-08-03 1984-12-22 GEAR HEAD FOR MANIPULATORS.

Country Status (9)

Country Link
EP (2) EP0169943B1 (en)
JP (1) JPS6144592A (en)
KR (1) KR920008805B1 (en)
AT (1) ATE47685T1 (en)
AU (1) AU580759B2 (en)
CA (1) CA1234998A (en)
DE (1) DE3480331D1 (en)
ES (1) ES539887A0 (en)
SU (1) SU1600621A3 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3525806A1 (en) * 1985-07-19 1987-01-29 Kuka Schweissanlagen & Roboter TRANSMISSION HEAD FOR MANIPULATORS
DE3545068A1 (en) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter TRANSMISSION HEAD FOR MANIPULATORS
DE3631024A1 (en) * 1986-09-09 1988-03-17 Mannesmann Ag ROBOT ARM

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3712481A (en) * 1971-12-23 1973-01-23 Mc Donnell Douglas Corp Actuator
DE2225476C3 (en) * 1972-05-25 1975-04-24 Engel, Heinrich, 6407 Schlitz Actuator
US4046262A (en) * 1974-01-24 1977-09-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Anthropomorphic master/slave manipulator system
DE2435156C2 (en) * 1974-07-22 1983-09-01 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Program controlled manipulator
JPS5841996B2 (en) * 1976-02-27 1983-09-16 株式会社椿本チエイン Industrial robot wrist mechanism
DE2717870C3 (en) * 1977-04-22 1983-05-19 Volkswagenwerk Ag, 3180 Wolfsburg Handling device
US4151390A (en) * 1977-08-04 1979-04-24 Luciano Bisiach Tool holder head, particularly for welding yokes and guns
SU766856A1 (en) * 1978-09-28 1980-09-30 Проектно-Конструкторско-Технологическое Бюро По Вагонам Working member of manipulator
JPS56163624A (en) * 1980-05-20 1981-12-16 Umetani Youji Active cord mechanism
DE3048067C2 (en) * 1980-12-19 1984-08-09 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Gear arrangement for the joint head of a manipulator
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4502347A (en) * 1982-09-21 1985-03-05 Westinghouse Electric Corp. Robotic wrist
DE3464021D1 (en) * 1983-08-03 1987-07-09 Kuka Schweissanlagen & Roboter Manipulator gear head
SE454659B (en) * 1983-09-01 1988-05-24 Asea Ab ROBOT WRIST

Also Published As

Publication number Publication date
EP0169943A1 (en) 1986-02-05
JPS6144592A (en) 1986-03-04
SU1600621A3 (en) 1990-10-15
KR920008805B1 (en) 1992-10-09
KR860001696A (en) 1986-03-22
ES8606055A2 (en) 1986-04-01
EP0169942A1 (en) 1986-02-05
EP0169942B1 (en) 1989-11-02
AU4001385A (en) 1986-02-06
ES539887A0 (en) 1986-04-01
EP0169943B1 (en) 1989-11-02
DE3480331D1 (en) 1989-12-07
AU580759B2 (en) 1989-02-02
JPH0530599B2 (en) 1993-05-10
CA1234998A (en) 1988-04-12

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Legal Events

Date Code Title Description
REN Ceased due to non-payment of the annual fee